Two-dimensional force measurement sensor and measurement method

Abstract

The present invention discloses a two-dimensional force measurement sensor and a measurement method, wherein the two-dimensional force measurement sensor comprises a force measuring base, a force bearing member and at least two component force measurement structures, wherein the force bearing member is used to bear the two-dimensional force to be measured in a force measuring surface or parallel to the force measuring surface, each component force measurement structure has two connecting parts, one of which is arranged on the force bearing member, and the other is arranged on the force measuring base, wherein a first force measuring direction is formed between the two connecting parts of one of the force component measurement structures for measuring a first unidirectional force value, and a second force measuring direction is formed between the two connecting parts of the other force component measurement structure for measuring a second unidirectional force value and forming an angle with the first force measuring direction. The two-dimensional force to be measured is synthesized according to the first force measuring direction, the first unidirectional force value, the second force measuring direction and the second unidirectional force value, thereby reducing the influence of inter-dimensional crosstalk, improving the measurement accuracy, and facilitating rapid acquisition of the two-dimensional force in the force measuring surface.

Description

Technical Field

[0001] The present invention relates to the technical field of sensors, and in particular to a two-dimensional force measurement sensor and a measurement method. Background Art

[0002] Two-dimensional force measurement sensors are widely used in robotics, manufacturing, biomechanics, aerospace, metallurgy, transportation and other industries. Two-dimensional force measurement sensors refer to force sensors that can simultaneously measure force or torque components in two directions. At present, the mainstream of two-dimensional force measurement sensors is to attach strain gauges to different parts of an elastic body according to mechanical properties to complete the measurement of force or torque in different directions. When the sensor is subjected to two-dimensional force, its internal stress distribution is very complex. The deformation caused by force in one direction will inevitably affect the deformation of the elastic body in other directions, resulting in serious and difficult to solve inter-dimensional coupling problems, which is not convenient for measuring two-dimensional force. Summary of the invention

[0003] The main purpose of the present invention is to provide a two-dimensional force measurement sensor and a measurement method, aiming to facilitate the measurement of two-dimensional force.

[0004] In order to achieve the above object, the present invention proposes a two-dimensional force measurement sensor, comprising:

[0005] Force measuring base;

[0006] A load-bearing member is arranged at intervals from the force-measuring base, a cross section of the load-bearing member is a force-measuring surface, and the load-bearing member is used to bear the two-dimensional force to be measured within the force-measuring surface or parallel to the force-measuring surface; and

[0007] At least two force component measurement structures, each of which has two connecting parts opposite to each other in the force measuring surface, one of which is provided on the force bearing member, and the other is provided on the force measuring base, a first force measuring direction is formed between the two connecting parts of one of the force component measurement structures, for measuring a first unidirectional force value of the two-dimensional force to be measured distributed along the first force measuring direction, and a second force measuring direction is formed between the two connecting parts of the other force component measurement structure, which is arranged at an angle to the first force measuring direction, for measuring a second unidirectional force value of the two-dimensional force to be measured distributed along the second force measuring direction;

[0008] The two-dimensional force to be measured is synthesized according to the first force measuring direction, the first unidirectional force value, the second force measuring direction, and the second unidirectional force value.

[0009] Optionally, at least one of the force component measurement structures includes a tension and pressure measurement sensor, and two mounting ends of the tension and pressure measurement sensor correspond to the two connecting parts.

[0010] Optionally, at least one of the force component measurement structures comprises a pin-type force measurement structure, and the pin-type force measurement structure comprises:

[0011] A force transmission rod, wherein the two ends of the force transmission rod correspond to the two connecting parts; and

[0012] The first pin-type force measuring installation structure includes a first pin-type force measuring sensor and a first installation hole which are rotatably matched with each other. One of the first pin-type force measuring sensor and the first installation hole is arranged at one end of the force transmission rod, and the other is arranged at the force measuring base.

[0013] Optionally, the two force component measurement structures both include the pin-type force measurement structure;

[0014] The connecting parts of the force transmission rods of the two pin-type force measuring structures are connected as one body.

[0015] Optionally, one of the force component measurement structures includes the pin-type force measurement structure, and the other force component measurement structure includes:

[0016] A connecting rod connected to the force transmission rod as a whole, one end of the connecting rod being the connecting portion;

[0017] A bearing rod, one end of which is connected to the other end of the connecting rod by a rotating pair, and the other end of the bearing rod is another connecting portion; and

[0018] The second pin-type force measuring mounting structure comprises a second pin-type force measuring sensor and a second mounting hole which are rotatably matched with each other. One of the second pin-type force measuring sensor and the second mounting hole is arranged at the rotating end of the connecting rod and / or the other end of the bearing rod, and the other is correspondingly arranged at the rotating end of the bearing rod and / or the force measuring base.

[0019] Optionally, a first rolling bearing is provided between the first pin-type force sensor and the first mounting hole; and / or,

[0020] A second rolling bearing is provided between the second pin-type force sensor and the second mounting hole.

[0021] Optionally, at least one of the force component measurement structures comprises a strain type force measurement structure, and the strain type force measurement structure comprises:

[0022] a first elastic rod, wherein two ends of the first elastic rod correspond to the two connecting parts; and

[0023] The first strain measuring element is arranged on the first elastic rod, and the deformation direction of the first strain measuring element is the same as the force measuring direction formed between the two connecting parts.

[0024] Optionally, the two force component measurement structures both include the strain type force measurement structure;

[0025] The connecting parts of the first elastic rods of the two strain-type force measuring structures are connected as one body.

[0026] Optionally, one of the force component measurement structures includes the strain type force measurement structure, and the other strain type force measurement structure includes:

[0027] A second elastic rod is connected to the first elastic rod as a whole, one end of the first elastic rod being the connecting portion; and

[0028] a third elastic rod, one end of the second elastic rod being rotatably mounted on the other end of the second elastic rod, the other end of the third elastic rod being another connecting portion;

[0029] The second strain measuring element is arranged on the second elastic rod and / or on the third elastic rod, and the deformation direction of the second strain measuring element is the same as the force measuring direction formed between the two connecting parts.

[0030] The present invention also provides a two-dimensional force measurement method, wherein the plane on which the two-dimensional force to be measured is located is a force measurement surface, and the two-dimensional force measurement method comprises the following steps:

[0031] Decomposing the two-dimensional force to be measured into component forces to be measured along at least two force measuring directions set at an angle within the force measuring surface;

[0032] Measuring the force values ​​of the at least two force components to be measured;

[0033] The two-dimensional force within the force measuring surface is synthesized according to the at least two force measuring directions and the corresponding force component values ​​of the at least two force components to be measured.

[0034] Optionally, after the step of “synthesizing the two-dimensional force in the force measuring surface according to the at least two force measuring directions and the corresponding force component values ​​of the at least two force components to be measured”, the method further includes:

[0035] The two-dimensional force in the force measuring surface is decomposed into component forces in specified directions.

[0036] In the technical solution provided by the present invention, the two-dimensional force to be measured is decomposed into a first unidirectional force distributed along the first force measuring direction and a second unidirectional force distributed along the second force measuring direction, and the first unidirectional force value and the second unidirectional force value are respectively measured by the component force measurement structure. The two-dimensional force to be measured is synthesized according to the first force measuring direction, the first unidirectional force value, the second force measuring direction, and the second unidirectional force value, so that the two-dimensional force can be measured. Such an arrangement reduces the influence of inter-dimensional crosstalk, improves measurement accuracy, facilitates rapid acquisition of the two-dimensional force within the force measuring surface, and has a better effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0038] Figure 1 A schematic structural diagram of an embodiment of a two-dimensional force measurement sensor provided by the present invention;

[0039] Figure 2 A schematic structural diagram of another embodiment of the two-dimensional force measurement sensor provided by the present invention;

[0040] Figure 3 A schematic diagram of a flow chart of an embodiment of a two-dimensional force measurement method provided by the present invention;

[0041] Figure 4 A schematic flow chart of another embodiment of the two-dimensional force measurement method provided by the present invention.

[0042] Description of Figure Numbers:

[0043] Label name Label name 100 2D force measurement sensor 33 Loading rod 1 Force measuring base 34 Second pin-type force measurement installation structure 2 Load-bearing parts 341 Second pin type force sensor 3 Force measurement structure 342 Second mounting hole 3a Pin-type force measurement structure 343 Second rolling bearing 30 Dowel rod 3b Strain gauge force measurement structure 31 The first pin-type force measurement installation structure 35 First elastic rod 311 The first pin-type force sensor 36 First strain measuring element 312 First mounting hole 37 Second elastic rod 313 First rolling bearing 38 The third elastic rod 32 Connecting rod 39 Second strain measuring element

[0044] The realization of the purpose, functional characteristics and excellent effects of the present invention will be further described below in conjunction with specific embodiments and drawings. DETAILED DESCRIPTION

[0045] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0046] It should be noted that if a directional indication is involved in the embodiment of the present invention, the directional indication is only used to explain the relative position relationship, movement status, etc. between the components in a certain specific posture. If the specific posture changes, the directional indication will also change accordingly.

[0047] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or suggesting their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0048] In the description of the embodiments of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the embodiments of the present invention can be understood according to specific circumstances.

[0049] Two-dimensional force measurement sensors are widely used in robotics, manufacturing, biomechanics, aerospace, metallurgy, transportation and other industries. Two-dimensional force measurement sensors refer to force sensors that can simultaneously measure force or torque components in two directions. At present, the mainstream of two-dimensional force measurement sensors is to attach strain gauges to different parts of an elastic body according to mechanical properties to complete the measurement of force or torque in different directions. When the sensor is subjected to two-dimensional force, its internal stress distribution is very complex. The deformation caused by force in one direction will inevitably affect the deformation of the elastic body in other directions, resulting in serious and difficult to solve inter-dimensional coupling problems, which is not convenient for measuring two-dimensional force.

[0050] In view of this, the present invention provides a two-dimensional force measurement sensor. Figure 1 to Figure 2 A schematic diagram of an embodiment of a two-dimensional force measurement sensor provided by the present invention.

[0051] See also Figure 1The two-dimensional force measurement sensor 100 includes a force measuring base 1, a force bearing member 2 and at least two force component measurement structures 3, wherein the force bearing member 2 is arranged at intervals from the force measuring base 1, a cross section of the force bearing member 2 is a force measuring surface, and the force bearing member 2 is used to bear the two-dimensional force to be measured in the force measuring surface or parallel to the force measuring surface. Each of the force component measurement structures 3 has two connecting parts opposite to each other in the force measuring surface, one of which is arranged on the force bearing member 2, and the other is arranged on the force measuring base 1, a first force measuring direction is formed between the two connecting parts of one of the force component measurement structures 3, which is used to measure a first unidirectional force value of the two-dimensional force to be measured distributed along the first force measuring direction, and a second force measuring direction is formed between the two connecting parts of the other force component measurement structure 3, which is arranged at an angle to the first force measuring direction, which is used to measure a second unidirectional force value of the two-dimensional force to be measured distributed along the second force measuring direction, wherein the two-dimensional force to be measured is synthesized according to the first force measuring direction, the first unidirectional force value, the second force measuring direction, and the second unidirectional force value.

[0052] In the technical solution provided by the present invention, the two-dimensional force to be measured is decomposed into a first unidirectional force distributed along the first force measuring direction and a second unidirectional force distributed along the second force measuring direction, and the first unidirectional force value and the second unidirectional force value are respectively measured by the component force measurement structure 3. The two-dimensional force to be measured is synthesized according to the first force measuring direction, the first unidirectional force value, the second force measuring direction, and the second unidirectional force value, so that the two-dimensional force can be measured. Such an arrangement reduces the influence of inter-dimensional crosstalk, improves the measurement accuracy, facilitates the rapid acquisition of the two-dimensional force within the force measuring surface, and has a better effect.

[0053] It should be noted that the angle between the first force measuring direction and the second force measuring direction is a fixed value, such as an acute angle, a right angle or an obtuse angle, etc. Of course, the size of the angle can be adjusted according to actual needs to adapt to different force measurement requirements.

[0054] In the embodiments of the present invention, the specific structural form of the force component measurement structure 3 is not limited. For example, the force component measurement structure can be directly set as a force sensor, or a related unidirectional force measurement structure can be adopted. Specifically, in one embodiment, at least one of the force component measurement structures 3 includes a tension and pressure measurement sensor, and the two mounting ends of the tension and pressure measurement sensor correspond to the two connecting parts. The two ends of the tension and pressure measurement sensor are directly set between the load-bearing member 2 and the force measuring base 1, respectively. Such a setting has a simple structure. It should be noted that the connection mode between the two connecting parts and the load-bearing member 2 and the force measuring base 1, respectively, can be a rotating connection or a fixed connection. It should be noted that the tension and pressure measurement sensor is widely used in the occasions of measuring unidirectional force in the prior art, and can measure tension or compression, thereby expanding the scope of application of the two-dimensional force measurement sensor 100.

[0055] In one embodiment, at least one of the force component measurement structures 3 includes a pin-type force measuring structure 3a, which includes a force transmission rod 30 and a first pin-type force measuring mounting structure 31. The two ends of the force transmission rod 30 correspond to the two connecting parts. The first pin-type force measuring mounting structure 31 includes a first pin-type force sensor 311 and a first mounting hole 312 that are rotatably matched with each other. One of the first pin-type force sensor 311 and the first mounting hole 312 is arranged at one end of the force transmission rod 30, and the other is arranged at the force measuring base 1. By setting the pin-type force measuring structure 3a, the structure is stable and the measurement accuracy is improved.

[0056] Furthermore, in order to facilitate the layout of the structure, in one embodiment, the two component force measurement structures 3 both include the pin-type force measuring structure 3a, and the connecting parts of the force transmission rods 30 of the two pin-type force measuring structures 3a are connected as a whole. The two force transmission rods 30 can be set in the form of a force transmission plate or a force transmission seat, that is, the measurement of the unidirectional force in the first force measuring direction and the second force measuring direction is realized on one component. With such a setting, the structure is simple and convenient for measurement.

[0057] In order to accurately obtain the component forces in two force measuring directions, in one embodiment, one of the force component measuring structures 3 includes the pin-type force measuring structure 3a, and the other force component measuring structure 3 includes a connecting rod 32, a load-bearing rod 33 and a second pin-type force measuring installation structure 34, wherein the connecting rod 32 is connected to the force transmission rod 30 as a whole, one end of the connecting rod 32 is a connecting portion, one end of the load-bearing rod 33 is connected to the other end of the connecting rod 32 by a rotating pair, the other end of the load-bearing rod 33 is another connecting portion, and the second pin-type force measuring installation structure The mounting structure 34 includes a second pin-type force sensor 341 and a second mounting hole 342 which are rotatably matched with each other. One of the second pin-type force sensor 341 and the second mounting hole 342 is arranged at the rotating end of the connecting rod 32 and / or the other end of the bearing rod 33, and the other is correspondingly arranged at the rotating end of the bearing rod 33 and / or the force measuring base 1. Such an arrangement differentiates the force measuring structures in the two force measuring directions, which can further reduce the influence of the mutual crosstalk between the two component forces, further improve the measurement accuracy, and has a better effect.

[0058] In one embodiment, a first rolling bearing 313 is provided between the first pin-type force sensor 311 and the first mounting hole 312, and / or a second rolling bearing 343 is provided between the second pin-type force sensor 341 and the second mounting hole 342. By setting the rolling bearings, the additional force between the load-bearing member 2 and the force-transmitting member is greatly reduced, and the accuracy of the sensor is further improved. It should be noted that the setting method of the first rolling bearing 313 and the second rolling bearing 343 can be selected either one or both.

[0059] In one embodiment, please refer to Figure 2 At least one of the component force measurement structures 3 includes a strain-type force measurement structure 3b, and the strain-type force measurement structure 3b includes a first elastic rod 35 and a first strain measurement element 36. The two ends of the first elastic rod 35 correspond to the two connecting parts. The first strain measurement element 36 is arranged on the first elastic rod 35, and the deformation direction of the first strain measurement element 36 is the same as the force measurement direction formed between the two connecting parts. The elastic deformation amount of the first elastic rod 35 caused by the force is measured by the first strain measurement element 36, and the deformation amount is converted into a corresponding force value, so that the magnitude of the component force can be obtained. With this arrangement, the first strain measurement element 36 only measures the uniaxial force, with high measurement accuracy, which is convenient for measuring the component force in the force measurement direction and has a good effect.

[0060] One of the two component force measuring structures 3 can be the strain type force measuring structure 3b, and the other can be directly the tension or pressure sensor, or can be the pin type force measuring structure 3a. In one embodiment, the two component force measuring structures 3 both include the strain type force measuring structure 3b, and the connecting parts of the first elastic rods 35 of the two strain type force measuring structures 3b are connected as a whole. The two first elastic rods 35 can be set in the form of an elastic force transmission plate or a force transmission seat, that is, the measurement of unidirectional force in the first force measuring direction and the second force measuring direction is realized on one component. With such a setting, the structure is simple and convenient for measurement.

[0061] In order to accurately obtain the component forces in two force measuring directions, in one embodiment, one of the component force measurement structures 3 includes the strain-type force measuring structure 3b, and the other strain-type force measuring structure 3b includes a second elastic rod 37, a third elastic rod 38 and a second strain measuring element 39, the second elastic rod 37 is connected to the first elastic rod 35 as a whole, one end of the first elastic rod 35 is a connecting portion, one end of the second elastic rod 37 is rotatably mounted on the other end of the second elastic rod 37, and the other end of the third elastic rod 38 is another connecting portion, the second strain measuring element is arranged on the second elastic rod 37 and / or on the third elastic rod 38, and the deformation direction of the second strain measuring element 39 is the same as the force measuring direction formed between the two connecting portions. Such an arrangement makes the force measuring structures in the two force measuring directions differentiated, which can further reduce the influence of mutual crosstalk between the two component forces, further improve the measurement accuracy, and has a better effect.

[0062] The present invention provides a two-dimensional force measurement method. Figure 3 This is the first embodiment of the two-dimensional force measurement method provided by the present invention.

[0063] Specifically, see Figure 3 In a first embodiment, the two-dimensional force measurement method includes:

[0064] Step S10, decomposing the two-dimensional force to be measured into component forces to be measured along at least two force measuring directions set at an angle within the force measuring surface.

[0065] The two-dimensional force to be measured can be decomposed into two component forces to be measured on the force measuring surface, or three component forces to be measured, or more component forces to be measured, which can be set according to actual needs;

[0066] In addition, the angle between the two force measuring directions is a fixed value, such as an acute angle, a right angle or an obtuse angle, etc. Of course, according to actual needs, the size of the angle can be adjusted to adapt to different force measuring requirements.

[0067] Step S20, measuring the force component values ​​of the at least two force components to be measured.

[0068] The force values ​​of the two force components to be measured can be directly obtained through tension or pressure sensors. Of course, the force components to be measured can also be measured through pin-type force sensors or strain gauge force measurement.

[0069] Step S30, synthesizing the two-dimensional force in the force measuring surface according to the at least two force measuring directions and the corresponding force component values ​​of the at least two force components to be measured.

[0070] The two-dimensional force is a vector force. By obtaining the force values ​​of each component force to be measured and the directions corresponding to each component force to be measured, each component force to be measured can be directly synthesized into the two-dimensional force. The synthesis can be done manually or by a computer.

[0071] further, Figure 4 This is the second embodiment of the two-dimensional force measurement method provided by the present invention.

[0072] Specifically, see Figure 4 In the second embodiment, after the step of "synthesizing the two-dimensional force in the force measuring surface according to the at least two force measuring directions and the corresponding force values ​​of the at least two force components to be measured", the step further includes:

[0073] Step S40, decomposing the two-dimensional force in the force measuring surface into component forces in specified directions.

[0074] The two-dimensional force can be decomposed into component forces in any direction by using the force decomposition method.

[0075] The above descriptions are only optional embodiments of the present invention, and are not intended to limit the patent scope of the present invention. Any equivalent structure made using the contents of the present invention's specification and drawings, or directly or indirectly used in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A two-dimensional force measurement sensor, characterized in that: include: Force measuring base; A load-bearing member is arranged at intervals from the force-measuring base, a cross section of the load-bearing member is a force-measuring surface, and the load-bearing member is used to bear the two-dimensional force to be measured within the force-measuring surface or parallel to the force-measuring surface; as well as, At least two force component measurement structures, each of which has two connecting parts opposite to each other in the force measuring surface, one of which is provided on the force bearing member, and the other is provided on the force measuring base, a first force measuring direction is formed between the two connecting parts of one of the force component measurement structures, for measuring a first unidirectional force value of the two-dimensional force to be measured distributed along the first force measuring direction, and a second force measuring direction is formed between the two connecting parts of the other force component measurement structure, which is arranged at an angle to the first force measuring direction, for measuring a second unidirectional force value of the two-dimensional force to be measured distributed along the second force measuring direction; The two-dimensional force to be measured is synthesized according to the first force measuring direction, the first unidirectional force value, the second force measuring direction, and the second unidirectional force value.

2. The two-dimensional force measurement sensor according to claim 1, characterized in that: At least one of the force component measurement structures includes a tension and pressure measurement sensor, and two mounting ends of the tension and pressure measurement sensor correspond to the two connecting parts.

3. The two-dimensional force measurement sensor according to claim 1, characterized in that: At least one of the force component measurement structures comprises a pin-type force measurement structure, and the pin-type force measurement structure comprises: A force transmission rod, wherein the two ends of the force transmission rod correspond to the two connecting parts; and The first pin-type force measuring installation structure includes a first pin-type force measuring sensor and a first installation hole which are rotatably matched with each other. One of the first pin-type force measuring sensor and the first installation hole is arranged at one end of the force transmission rod, and the other is arranged at the force measuring base.

4. The two-dimensional force measurement sensor according to claim 3, characterized in that: The two force component measurement structures both include the pin-type force measurement structure; The connecting parts of the force transmission rods of the two pin-type force measuring structures are connected as one body.

5. The two-dimensional force measurement sensor according to claim 3, characterized in that: One of the force component measurement structures includes the pin-type force measurement structure, and the other force component measurement structure includes: A connecting rod connected to the force transmission rod as a whole, one end of the connecting rod being the connecting portion; A bearing rod, one end of which is connected to the other end of the connecting rod by a rotating pair, and the other end of the bearing rod is another connecting portion; and The second pin-type force measuring mounting structure comprises a second pin-type force measuring sensor and a second mounting hole which are rotatably matched with each other. One of the second pin-type force measuring sensor and the second mounting hole is arranged at the rotating end of the connecting rod and / or the other end of the bearing rod, and the other is correspondingly arranged at the rotating end of the bearing rod and / or the force measuring base.

6. The two-dimensional force measurement sensor according to claim 5, characterized in that: A first rolling bearing is provided between the first pin-type force sensor and the first mounting hole; and / or, A second rolling bearing is provided between the second pin-type force sensor and the second mounting hole.

7. The two-dimensional force measurement sensor according to claim 1, characterized in that: At least one of the force component measurement structures comprises a strain type force measurement structure, and the strain type force measurement structure comprises: a first elastic rod, wherein two ends of the first elastic rod correspond to the two connecting parts; and The first strain measuring element is arranged on the first elastic rod, and the deformation direction of the first strain measuring element is the same as the force measuring direction formed between the two connecting parts.

8. The two-dimensional force measurement sensor according to claim 7, characterized in that: One of the force component measurement structures includes the strain type force measurement structure, and the other strain type force measurement structure includes: A second elastic rod is connected to the first elastic rod as a whole, one end of the first elastic rod being the connecting portion; and a third elastic rod, one end of the second elastic rod being rotatably mounted on the other end of the second elastic rod, the other end of the third elastic rod being another connecting portion; The second strain measuring element is arranged on the second elastic rod and / or on the third elastic rod, and the deformation direction of the second strain measuring element is the same as the force measuring direction formed between the two connecting parts.

9. A two-dimensional force measurement method, characterized in that: Using the two-dimensional force measurement sensor according to any one of claims 1 to 8, the plane where the two-dimensional force to be measured is located is the force measurement surface, and the two-dimensional force measurement method comprises the following steps: Decomposing the two-dimensional force to be measured into component forces to be measured along at least two force measuring directions set at an angle within the force measuring surface; Measuring the force values ​​of the at least two force components to be measured; The two-dimensional force within the force measuring surface is synthesized according to the at least two force measuring directions and the corresponding force component values ​​of the at least two force components to be measured.

10. The two-dimensional force measurement method according to claim 9, characterized in that: After the step of "synthesizing the two-dimensional force in the force measuring surface according to the at least two force measuring directions and the corresponding force values ​​of the at least two force components to be measured", the following step is also included: The two-dimensional force in the force measuring surface is decomposed into component forces in specified directions.

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